Visual human motion capture from a mobile robot

被引：0
|
作者：
Fontmarty, Mathias [1 ]
Lerasle, Frederic [1 ]
Danes, Patrick [1 ]
机构：
[1] CNRS, F-31077 Toulouse, France
来源：
RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2 | 2009年
关键词：
TRACKING; FUSION;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we present a visual human motion capture (HMC) system embedded on a mobile robot. The estimation of the 3D location and configuration of our 14 DOF model of the upper human body is performed with a particle filter. We use a stereoscopic camera to derive appearance based visual cues together with 3D measurements computed from a sparse 3D reconstruction. A comparative study is carried out in order to achieve the best association between measurement cues and filtering strategies in our robotics context. The system performs in real-time in various indoor environments.
引用
收藏
页码：283 / 288
页数：6
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